robotics
The Rover Learned Only What the Route Needed
Task-weighted information gathering improved simulated goal arrival by up to 27.4 percentage points.
Summary
Task-weighted information gathering improved simulated goal arrival by up to 27.4 percentage points.
Task-Oriented Information Acquisition scores observations by how much they would reduce later uncertainty along the same model-predictive-control rollout, then weights that value by relevance to the mission. It reuses the controller’s existing rollout batch without imagining future observations or repeatedly optimizing hypothetical updates. Across held-out simulated off-road maps, it improved goal-reaching over passive residual learning by 19.3 and 27.4 percentage points and ran online at 20 hertz on an RTX 2080 Ti. The evidence is simulation-only and depends on the tested Gaussian-process residual model.
Why it matters
Task-weighted information gathering improved simulated goal arrival by up to 27.4 percentage points.
Limits and context
- The evidence is simulation-only and depends on the tested Gaussian-process residual model.
Key claims
Task-weighted information gathering improved simulated goal arrival by up to 27.4 percentage points.
Qualification: The evidence is simulation-only and depends on the tested Gaussian-process residual model.
Evidence: source-2026-09-20-012
Sources
- arXiv preprint 2609.19378arXiv · primary research
Corrections
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